CN101105396B - System and method for automatic 3D scan data alignment - Google Patents
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Abstract
An automated mechanism that identifies and defines a global coordinate system that is most appropriate for a collection of raw 3D scan data used to form a mesh model is discussed. More specifically, a coordinate system is identified that is able to minimize the total sum of deviation error while also minimizing the peak error for raw 3D scan data. The present invention searches for appropriate coordinate systems from raw 3D scan data in a fully automated way. Multiple coordinate systems in order of likelihood of leading to minimal global deviation error are identified and presented to a user. End users are also allowed to edit suggested coordinate system parameters interactively prior to the alignment of the 3D scan data being transformed based on a selected coordinate system.
Description
Technical field
Exemplary embodiment of the present invention relates generally to the 3D scan-data, more specifically relates to a kind of mechanism of determining the coordinate system that the 3D scan-data is used automatically.
Background technology
On behalf of the high resolving power point that is scanned the three dimensional object shape, 3D scanning catch the physical geometry information of three dimensional object by collecting.In case caught original 3D scan-data, just it can be transformed into the CAD partial model, with further processing, thereby duplicate or revise the design of three dimensional object.Thereby this 3D scan-data of catching three dimensional object is known as reverse engineering with the process that provides it to the CAD application program and can redesign object.
When using 3D scanner or digitalizer measurement point, in measuring equipment, make the fundamental coordinate system location and the orientation of the coordinate institute reference of all measurement points.Manufacturer sets the specification of coordinate system, and thereby do not have unacceptable industrial standard for coordinate system, main cause is the diversity of device structure.Under the situation of CMM (coordinate measuring machine), the mobile of probe is orthoscopic, and the terminal user knows positioning parts to be measured and the orientation that how to make on the CMM platform, thereby being easy to follow the trail of measures coordinate information.Common custom is to use CMM to set the coordinate system parameter before actual measurement begins.
For 3D scanning, the method for capture point is different from the measuring system of other types slightly, and brings an extra difficult problem.The 3D scanning device is of portable form, thereby described equipment has the ability that changes measurement coordinate system in the process of sweep object.Object to be scanned is often also relocated (destination object that for example overturns is to catch the bottom geometric configuration).In some applications, 3D scanning system identification is connected the target device with reorientation of relocating with tracking 3D scanner or object with object.The result that scanner and object move in scanning process is the 3D point or the grid data of one group of arbitrary orientation in the 3d space.When the terminal user need design the cad model that duplicates the 3D scan-data, in modeling process, make up to be fit to coordinate system as a whole coordinate reference be at first and most crucial steps.Defining this global coordinate system by the geometry clue in the manual search either 3D scan-data is not a kind of simple process (because the variable in the said process).The definition global coordinate system needs repetition test, and this is very consuming time and easily make mistakes.
A kind of important tolerance that is used to judge the adaptability of defined global coordinate system is the whole offset error amount that described coordinate system causes.Whole offset error is the distance difference between original 3D scan-data and the cad model of rebuilding mould.In case set up whole coordinate reference system, modeling feature such as extruding, rotation, setting-out or scanning are usually with the reference in its entirety coordinate system.Different slightly global coordinate systems may cause significant offset error difference.Routine techniques allows the terminal user to control modeling parameters, with feature ground minimum aberrations error one by one.Yet when minimizing peak error, the summation of minimum aberrations error is difficulty quite.Coordinate system is used to generate CAD feature (as using the extruding of coordinate system axle), and compares to determine deviation with scan-data.Peak deviation refers to the maximum deviation point or the zone of grid, and mean deviation be grid have a few or the zone population mean.Need a kind of auto-mechanism that defines global coordinate system, the summation that this coordinate system can the minimum aberrations error minimizes the peak error of original 3D scan-data simultaneously.
Summary of the invention
Exemplary embodiment of the present invention provides the auto-mechanism of a kind of identification and definition global coordinate system, and this global coordinate system is suitable for use in the set of the original 3D scan-data that forms grid model most.More specifically, the summation that the coordinate system that is identified can the minimum aberrations error minimizes the peak error of original 3D scan-data simultaneously.The coordinate system that the present invention is fit to from the search of original 3D scan-data in fully automatic mode.Identify a plurality of coordinate systems that can make whole offset error minimum, and present to the user.Before alignment, also allow the coordinate system parameter of terminal user's interactively editing suggestion based on selected coordinate system transformation 3D scan-data.
In one aspect of the invention, provide a kind of and determine the method for the coordinate system that the 3D scan-data is used automatically by computing equipment, described method comprises the step of the set that the 3D scan-data is provided.Described 3D scan-data is used to generate the grid model of representing the three dimensional object surface.Described method is also determined to sequencing a plurality of coordinate systems that described 3D scan-data is used.In addition, described method causes the possibility of minimum deflection error to generate the list of described definite coordinate system based on coordinate system.Wherein, the process of determining a plurality of coordinate systems is: cut apart described grid model; The a plurality of zones of classification in the grid model of being cut apart; Calculating is used to define the parameter of the coordinate system that at least one institute's classified regions uses; Discern at least one group of parameter, from described parameter, can determine precise coordinates system or one because one degree of freedom and uncertain coordinate system; And with at least one group of parameter from described parameter, can accurately determining a coordinate system of being discerned and discerned from described parameter, can determine one because one degree of freedom and at least one group of parameter of uncertain coordinate system chosen into described list.
In another aspect of the present invention, provide a kind of system that determines the coordinate system that the 3D scan-data is used automatically, described system comprises the set of 3D scan-data.Described 3D scan-data is used to generate the grid model of representing the three dimensional object surface.Described system comprises that also being used for sequencing ground determines that the coordinate of a plurality of coordinate systems that described 3D scan-data is used determines instrument.Described coordinate determines that instrument causes the possibility of minimum deflection error to generate the list of described definite coordinate system based on coordinate system.In addition, described system comprises that described coordinate determines the graphic user interface that instrument generates.Described graphic user interface can make the user select coordinate system in the described list.Wherein, the process of determining a plurality of coordinate systems is: cut apart described grid model; The a plurality of zones of classification in the grid model of being cut apart; Calculating is used to define the parameter of the coordinate system that at least one institute's classified regions uses; The average parameter that is made up; Discern at least one group of parameter, from described parameter, can determine precise coordinates system or one because one degree of freedom and uncertain coordinate system; And with at least one group of parameter from described parameter, can accurately determining a coordinate system of being discerned and discerned from described parameter, can determine one because one degree of freedom and at least one group of parameter of uncertain coordinate system chosen into described list.
Description of drawings
The present invention is limited by the feature in the claims.With reference to the explanation of doing below in conjunction with accompanying drawing, the above-mentioned advantage that the present invention may be better understood and other advantages of the present invention, in the accompanying drawings:
Fig. 1 illustrates the environment that is suitable for implementing exemplary embodiment of the present;
Fig. 2 is the process flow diagram of the sequential steps of exemplary embodiment of the present, is used for the global coordinate system of determining that the 3D scan data set is share;
Fig. 3 is the process flow diagram of the sequential steps of exemplary embodiment of the present, and the zone of grid model and the parameter that calculating definition coordinate system is used are used for classifying;
Fig. 4 is the process flow diagram of the sequential steps of exemplary embodiment of the present, is used to make up the parameter of peaceful all similar;
Fig. 5 A illustrates the figure of the input grid that does not align with global coordinate system;
The mesh segmentation that Fig. 5 B is illustrated in Fig. 5 A becomes the functional area figure of grid afterwards;
Fig. 6 A-Fig. 6 F illustrates the figure of the basic parameter that the coordinate system that calculates each regional usefulness uses;
Fig. 7 illustrates the graphic user interface that exemplary embodiment of the present invention generates, and has listed the coordinate system of determining, and can make the user select coordinate system; And
Fig. 8 illustrates the generation figure of grid model behind the coordinate system transformation grid of use selecting.
Embodiment
Use the 3D scan-data more and more in CAD design, this makes that to find the reliable coordinate system of the 3D scan-data that is used for aliging more and more important.The present invention by sequencing ground determine possible coordinate system that the 3D scan-data uses, the coordinate system that causes the possibility of minimum deflection error to arrange to determine based on coordinate system and the coordinate system of arrangement is presented to the user check and select, solved this needs.The coordinate system of arranging is presented to the user by graphic user interface, and graphic user interface allows the user to customize selected coordinate system before coordinate system is applied to the 3D scan-data.
Fig. 1 illustrates the environment that is suitable for implementing exemplary embodiment of the present.Computing equipment 2 is main frames that the set of scan-data 4, the CAD application program 6 that is suitable for the Design CAD model and coordinate of the present invention are determined instrument 8.Computing equipment 2 can be processor to be installed and can to support CAD application program 6 and coordinate to determine workstation, server, kneetop computer, mainframe computer, PDA or other computing equipments that instrument 8 is carried out.The set of scan-data 4 can or can be just obtain before the coordinate system that instrument 8 definite scan-datas are used determining with coordinate from the scan-data set input of storage in advance.For example, scan-data 4 can be by being connected with computing equipment 2 or obtaining from destination object 12 with the 3D scanner 10 of its communication.Scan-data 4 is set that representative is scanned the three-dimensional high definition rate point of object shapes.In a kind of enforcement, scan-data 4 is one group of triangular mesh, but uses other forms of scan-data also to be considered within the scope of the invention.For example, scan-data 4 can be point, quadrilateral mesh, tetrahedral grid or hexahedral mesh.Grid group forms the grid model that representative is scanned object surface together.
Coordinate is determined instrument 8 with the software execution, and the possible coordinate system of scan-data 4 usefulness is determined on sequencing ground.Coordinate determines that instrument 8 can be the plug-in unit or the another kind of application program of stand-alone utility, CAD application program 6, and perhaps coordinate determines that instrument 8 can be the processing procedure carried out of other types.Coordinate determines that instrument 8 also generates the list of the coordinate system of determining, and presents to user 20 by graphic user interface 32 on display 30.
As mentioned above, coordinate determines that instrument 8 determines the coordinate system of scan-data 4 usefulness, and arranges coordinate system for the user.Fig. 2 is the process flow diagram that coordinate is determined the sequential steps of instrument 8, is used to discern the preferred coordinate system of the set usefulness of 3D scan-data.Sequential steps is divided into a plurality of zones (step 50) from cutting apart grid model (3D scan-data) with grid model.Then, coordinate is determined instrument 8 specification areas, and calculates the basic parameter (step 52) that the definition coordinate system is used.The classification and the CALCULATION OF PARAMETERS in zone further are discussed among Fig. 3 below.Coordinate is determined the similar parameter of instrument 8 combinations, and the parameter (step 54) in the average combined.The combination that discusses parameter in conjunction with following Fig. 4 in more detail is with average.After the parameter that makes up peaceful all similar, coordinate determines that instrument 8 sequencing ground identification can accurately determine (well-determined) parameter combinations (step 56) of a coordinate system and can determine one owing to one degree of freedom and uncertain coordinate system parameter combinations (step 58) from described parameter from described parameter.
(x0, y0 is z0) with three orthogonal directionss definition by the point in the space for flute card (Cartesian) coordinate.The component (that is: x0) of point can be by the face and the normal indication of x-direction.Point in the space can also be by the intersection point indication of the non-flat line of the intersection point of the intersection point of vector sum face, three non-parallel faces and two coplanes.The component of coordinate direction is by face normal or vector indication.In addition, given two cross lines (that is: from vector or face normal), the 3rd cross line is instructed to so, and thereby indicates three orthogonal directionss.If there is enough information to generate a coordinate (that is: three orthogonal directionss and two groups of points), can generate a plurality of coordinates (that is: the center has shared orthogonal directions at two coordinates of two groups of each that put) so.
If be used to indicate one or more elements of exactly determined coordinate system to lose, this coordinate system is considered to because one or more degree of freedom and uncertain so.Its example is point and the vector in the space.By the second extra orthogonal directions, can indicate the 3rd orthogonal directions, thereby obtain exactly determined coordinate system.
For example, exactly determined coordinate system can comprise three normal surfaces; Two normal surfaces and a line, line and arbitrary quadrature, its center line-hand-deliver point is an initial point; And the cross line of coplane, wherein intersection point is an initial point.Equally, because one degree of freedom and uncertain coordinate system can be to have two normal surfaces and the optional coordinate system of initial point.Selectively, uncertain coordinate system can have non-coplanar two cross lines, and has optional initial point, as the mid point between two lines.Similarly, uncertain coordinate system can have cross line and face, and one of them axle is optional.
After coordinate identification system, coordinate determines that instrument 8 is the coordinate system scoring of being discerned, and they are accumulated list or other forms of presenting to terminal user 20, wherein the coordinate system that score is the highest is to cover maximum area and have the coordinate system that minimum error distributes, and its score of exactly determined coordinate system is before uncertain coordinate system (step 60).The list of determined coordinate system is presented to user 20 by graphic user interface 32, thereby can make the user select required coordinate system.The user also can customize selected coordinate system (step 62).For example, when coordinate system aligns with initial point, which face the user can select will be X, Y and Z (or preceding, last and right).The user can also change initial point.Behind one of the user selects and optional customization is determined coordinate system, coordinate system is applied to scan-data 4, and based on selected coordinate system align once more (step 64).
The CALCULATION OF PARAMETERS that the classification in Fig. 3 discussion zone after cutting apart grid model and definition coordinate system are used.Can use known dividing method sequencing ground to cut apart grid model,, or can cut apart in response to zone selection and cutting procedure as dividing method based on curvature.After cutting apart grid model, coordinate is determined a plurality of dissimilar zones of instrument 8 classification, comprises plane domain, cylindrical region, conical area, annular region, spheric region and irregular area and rotary area, crush-zone (this is indicating the vector that calculates).
The component of the point in plane domain indication normal direction and the normal direction.In addition, plane domain indication face can also be indicated whole points, and wherein all three components are all at the center of indication face.The vectorial direction indication that calculates from the zone and with the both direction of vector direction quadrature two components of point.In addition, the vector that calculates from the zone can also be indicated whole points, and wherein all three components are all at the beginning or end of indication vector.Cylindrical region has identical indication with the vector that calculates from the zone.Equal direction indication of conical area and annular region and point.Spheric region is indication point only.
Classification and computation process comprise the plane domain (step 70) in the classification grid model.For in these plane domains each, coordinate determines that instrument 8 calculates the parameter that comprises a point on normal vector and the face.Coordinate is determined also classify cylindrical region and calculate the rotational line parameter (step 72) comprise a point on direction vector and the line for each zone of instrument 8.Similarly, coordinate is determined also classify conical area and calculate the rotational line parameter (step 74) comprise a point on direction vector and the line for each zone of instrument 8.After the classification annular region, coordinate determines that instrument 8 calculates rotational line parameter and the computing center's point (step 76) that comprises a point on direction vector and the line for each zone.Equally, after the classification spheric region, coordinate is determined instrument 8 computing centers point, comprises for the point (step 78) on each regional calculated direction vector sum line.Coordinate is determined instrument 8 irregular area (step 80) of also classifying.For irregular area, coordinate determines that instrument 8 can calculating parameter, comprises reference axis, comprises automatic calculating turning axle and extrusion axis.Should be realized that, after those zones that specify above, the zone of the other types of can classifying, and each zone is fit to calculate, this is also within the scope of the invention.Similarly, should be appreciated that specification area and the order of calculating are not limited to the described order of Fig. 3.After calculating each regional parameter, coordinate determines that instrument 8 calculates and store the error profile mean value (step 82) of each parameter.Error profile can followingly be determined:
Error profile=distance (point on the zone, the geometric configuration of search)
Simultaneously error profile mean value can be by following expression:
Error profile mean value=Sum (error profile)/count
Or
Error profile mean value=with reference to the normalization error statistics amount of geometric configuration, wherein said geometric configuration is not to come from basic best-fit geometric configuration (plane, cylinder, circular cone, annular, sphere), but comes from another kind of calculating, calculates as extrusion axis.
The present invention can also draw normalization error statistics amount from other fitting algorithms (as generating the turning axle and the extrusion axis algorithm of reference vector) that generate reference surface, reference point and reference vector, and uses it to replace error profile mean value.
After the basic parameter that the coordinate system of using in specification area and zoning is used, coordinate determine parameter that instrument 8 combinations are similar and average they.Fig. 4 has discussed the combination of parameter with average.When vector (normal of face or the direction vector of line) was parallel to each other in predetermined range of tolerable variance, coordinate was determined instrument 8 combination and average vectors (step 90).When line was co-linear with one another in range of tolerable variance, coordinate determined that instrument 8 also makes up and average line (step 92).In addition, in range of tolerable variance each other during coplane, coordinate is determined instrument 8 combination and centre planes (step 94), and when central point overlaps in range of tolerable variance each other, combination is mean center point (step 96) also face to face.
When average similar parameter, therefrom the area of the net region of extracting parameter is as weight factor.Mean value can followingly be represented:
Term " mean parameter " refers to one of mean parameter of one group.For example, the grid model for Fig. 5 A-Fig. 8 is discussed, it should be noted that the vector of all calculating is parallel in 1.5 ° for the parameter vector direction.Therefore, if coordinate is determined the range of tolerable variance in the instrument 8 and is allowed this deviation (that is: tolerance is set to 2 °), institute's directed quantity will be relevant with same group (from 4 vectors of cylinder best-fit so, 4 vectors from turning axle, and from 5 vectors of extrusion axis), and average together according to above-mentioned formula.The average error of cylinder best-fit algorithm distributes and is used in from the normalization error statistics amount of turning axle and extrusion axis algorithm in " the error profile mean value " of " mean parameter " formula of the weighting of showing.Therefore, according to above-mentioned formula, " mean parameter " (as vector direction) is the weighted mean value of direction of vector in the zone of all groups.The present invention also can use identical averaging for face, line and central point.
Further explain exemplary embodiment of the present invention with reference to figure 5A-Fig. 8.Fig. 5 A illustrates the figure of the input grid 102 that does not align with global coordinate system 100.The mesh segmentation that Fig. 5 B is illustrated in Fig. 5 A becomes functional area 112,114, the figure of grid after 116,118,120 and 122.Can see CALCULATION OF PARAMETERS referring to Fig. 6 A-Fig. 6 D to classified regions.Fig. 6 A-Fig. 6 D illustrates the figure of the basic parameter that the coordinate system that calculates each regional usefulness uses.Coordinate is determined that alignment algorithm that instrument 8 uses extracts and is begun with reference to geometric configuration from the functional area of grid model.Fig. 6 A illustrates match face algorithm application to base plane zone 122 and darker regions 123 more.Match face algorithm generates each regional best-fit face.These two faces are orthogonal in acceptable tolerance, and thereby indicate the 3rd orthogonal directions.
Fig. 6 B illustrates the extrusion axis algorithm, generates the reference vector be applied to all each zones 130,132,134,136 and 131, yet, only show the extrusion axis vector (130,131,132,134,136) of calculating parallel in acceptable tolerance.Fig. 6 C illustrates the turning axle algorithm, generates the reference vector that is applied to four subcylindrical objects, generates reference vector 130 ', 132 ', 134 ' and 136 '.Fig. 6 D illustrates best-fit cylinder axis algorithm, generates the reference vector that also is applied to four subcylindrical objects, generates reference vector 130 ", 132 ", 134 " and 136 ".Because the Vector Groups parallel and conllinear in tolerance among Fig. 6 B-Fig. 6 C, therefore as previously mentioned, they are on average become one group of average vector.Fig. 6 E illustrates average vector 130 " ', 131 " ', 132 " ', 134 ' ' ' and 136 ' ' '.Each is incident upon these average vectors on the parallel surface 122, generates indicated point.Fig. 6 F illustrates indicated point 140,141,142,143 and 144.Use Fig. 6 A and the entity of Fig. 6 E and indicated point, have more than enough information to generate coordinate, and from face, the indicated a plurality of coordinates of dot generation of vector sum.
Fig. 7 illustrates the graphic user interface 32 that exemplary embodiment of the present invention generates, and has listed the coordinate system of determining with rank order 200, and can make the user select coordinate system.By means of two orthogonal directionss and the 3rd indicated orthogonal directions, the user provides three orthogonal directionss, and from relevant average, that calculate and entity best-fit, based on five indicated points 140,141,142,143 and 144 as the coordinate central point, selects 150,151 with five coordinates, 152,153 and 154 present.In case the user has selected the coordinate (that is: 150) of suggestion, so when coordinate system aligns with initial point, which face of user by selecting 210,220 and 230 will be X, and Y and Z (or preceding, last and right) can also further change X, Y and Z direction, and can select initial point.If the face that user by selecting is different selects to change basic side as basic side, the present invention regulates coordinate system automatically so.In case the user has selected one of coordinate system of determining, so as shown in Figure 8, grid model 102 just aligns with the coordinate system of selecting 250.
The present invention can be used as be embodied on one or more media or among one or more computer-readable programs and provide.This class medium can be floppy disk, hard disk, CD, general digital CD, flash card, PROM, RAM, ROM or tape.Usually, computer-readable program can be carried out by any programming language.Some examples of operable language comprise FORTRAN, C, C++, C# or JAVA.Software program can be stored on one or more media or among as object code.Can use hardware-acceleratedly, and all or part code can move on FPGA or ASIC.Code can move in virtual environment such as virtual machine.The a plurality of virtual machines that are used for operation code can be located at single processor.
Because can make certain variation without departing from the present invention, therefore above-mentioned instructions comprised or accompanying drawing in shown full content all should be interpreted into illustratively, and be not only literal meaning.It will be appreciated by those skilled in the art that without departing from the present invention sequential steps shown in the drawings and structure can change, and the explanation that is comprised only is to the multiple indivedual examples that may describe of the present invention here.
Claims (11)
1. determine automatically to comprise the method for the coordinate system that the 3D scan-data is used by computing equipment for one kind:
The set of 3D scan-data is provided, and described 3D scan-data is used to generate the grid model of representing the three dimensional object surface;
Determine to sequencing a plurality of coordinate systems that described 3D scan-data is used, deterministic process is as follows:
Cut apart described grid model;
The a plurality of zones of classification in the grid model of being cut apart;
Calculating is used to define the parameter of the coordinate system that at least one institute's classified regions uses;
Discern at least one group of parameter, from described parameter, can determine precise coordinates system or one because one degree of freedom and uncertain coordinate system; And
Cause the possibility of minimum deflection error to generate the list of described a plurality of definite coordinate system based on coordinate system; And
With at least one group of parameter from described parameter, can accurately determining a coordinate system of being discerned and discerned from described parameter, can determine one because one degree of freedom and at least one group of parameter of uncertain coordinate system chosen into described list.
2. the method for claim 1 also comprises:
Alignment based on one of the described a plurality of definite coordinate systems described grid model of conversion.
3. the method for claim 1 also comprises:
By graphic user interface described list is presented to the user, described graphic user interface can make described user select coordinate system in the described list;
Based on user indication, select coordinate system in the described list by described graphic user interface; And
Alignment based on the described grid model of selected coordinate system transformation.
4. method as claimed in claim 3, wherein said user customized selected coordinate system before the alignment of the described grid model of conversion.
5. method as claimed in claim 4, wherein when described coordinate system alignd with initial point, described user changed X, one of Y and Z face.
6. method as claimed in claim 4, wherein said user changes initial point.
7. the method for claim 1, wherein institute's classified regions is one of plane domain, cylindrical region, conical area, annular region, spheric region and irregular area.
8. the method for claim 1, wherein said calculation of parameter comprises at least one in computing method vector, direction vector, rotational line, point and the central point.
9. determine automatically to comprise the system of the coordinate system that the 3D scan-data is used by computing equipment for one kind:
The set of 3D scan-data, described 3D scan-data is used to generate the grid model of representing the three dimensional object surface;
Be used for sequencing ground and determine that the coordinate of a plurality of coordinate systems that described 3D scan-data is used determines instrument, described coordinate determines that instrument causes the possibility of minimum deflection error to generate the list of described a plurality of definite coordinate system based on coordinate system; The process of determining coordinate system is as follows:
Cut apart described grid model;
The a plurality of zones of classification in the grid model of being cut apart;
Calculating is used to define the parameter of the coordinate system that at least one institute's classified regions uses;
Discern at least one group of parameter, from described parameter, can determine precise coordinates system or one because one degree of freedom and uncertain coordinate system; And
With at least one group of parameter from described parameter, can accurately determining a coordinate system of being discerned and discerned from described parameter, can determine one because one degree of freedom and at least one group of parameter of uncertain coordinate system chosen into described list;
Described coordinate is determined the graphic user interface that instrument generates, and described graphic user interface can make the user select coordinate system in the described list.
10. system as claimed in claim 9 is wherein based on the alignment of a described grid model of coordinate system transformation that is selected from a plurality of coordinate systems in the described list.
11. system as claimed in claim 10, wherein said graphic user interface can make described user customize selected coordinate system before the alignment of the described grid model of conversion.
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|---|---|---|---|
| US11/486,554 | 2006-07-13 | ||
| US11/486,554 US7639253B2 (en) | 2006-07-13 | 2006-07-13 | System and method for automatic 3D scan data alignment |
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| CN101105396A CN101105396A (en) | 2008-01-16 |
| CN101105396B true CN101105396B (en) | 2010-07-14 |
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| CN2007101227879A Active CN101105396B (en) | 2006-07-13 | 2007-07-09 | System and method for automatic 3D scan data alignment |
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| JP (1) | JP4791423B2 (en) |
| KR (1) | KR100933716B1 (en) |
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| DE (1) | DE102007032061A1 (en) |
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| DE102006019917B4 (en) * | 2006-04-28 | 2013-10-10 | Airbus Operations Gmbh | Method and device for ensuring the dimensional accuracy of multi-segment structural structures during assembly |
| US7613539B2 (en) * | 2006-05-09 | 2009-11-03 | Inus Technology, Inc. | System and method for mesh and body hybrid modeling using 3D scan data |
| PE20120627A1 (en) * | 2006-12-20 | 2012-05-26 | Scanalyse Pty Ltd | SYSTEM FOR MEASURING THE DISPLACEMENT OF A SURFACE RELATIVE TO A REFERENCE BASE |
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